CN104552311A - EtherCAT-based intelligent industrial robot bus module and operating method thereof - Google Patents
EtherCAT-based intelligent industrial robot bus module and operating method thereof Download PDFInfo
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Abstract
The invention relates to a bus module, in particular to an EtherCAT-based intelligent industrial robot bus module and an operating method thereof. An EtherCAT bus is connected with an embedded microprocessor; two ends of the embedded microprocessor are connected with a DSP (Digital Signal Processor) operation part and a teaching box respectively; a robot movement module, an I/O (Input/Output) module, a force sense module, a visual sense module and the EtherCAT bus form a topological structure. The operating method comprises the steps of selection of software and hardware, regarding of the embedded microprocessor as an EtherCAT master station, control over an EtherCAT slave station through an ESC (Electrical Safety Circuit), control over the robot movement module, control over the I/O module, control over the visual sense module, control over the force sense module and addition of modules. According to the EtherCAT-based intelligent industrial robot bus module and the operating method thereof, an industrial robot is more intelligent.
Description
Technical field
The present invention relates to a kind of bus module, particularly relate to a kind of intelligent industrial robot bus module based on EtherCAT and method of operating thereof, for intelligent industrial robot.
Background technology
Along with technical development, being used in modern factories of industrial robot is more and more extensive.Machine man-based development is just high towards control accuracy, and movement velocity is fast, and security better waits direction advance.
Traditional control bus mode cannot support this technical change, must adopt new bus mode, realize the high speed transmission of information.
Summary of the invention
The present invention mainly solves the deficiencies in the prior art, a kind of EtherCAT is provided to improve on traditional ethernet basis, there is network topology structure flexible, configuration is convenient, real-time is good, the intelligent industrial robot bus module based on EtherCAT that effective data rate is high and method of operating thereof.
Above-mentioned technical problem of the present invention is mainly solved by following technical proposals:
A kind of intelligent industrial robot bus module based on EtherCAT, comprise EtherCAT bus, EtherCAT bus is connected with embedded microprocessor, is provided with ethernet controller in embedded microprocessor, and the two ends of embedded microprocessor interconnect mutually with DSP arithmetic unit and teach box respectively; With robot motion's module, I/O module, power, EtherCAT bus feels that module, vision module interconnect mutually respectively; Robot motion's module, I/O module, power feel that module, vision module, EtherCAT bus form topological structure;
Robot motion's module comprises at least one ESC motion module, at least one servo-driver and at least one AC servo motor, and ESC motion module interconnects mutually with servo-driver, and servo-driver interconnects mutually with AC servo motor;
I/O module comprises ESC control module, and ESC control module is connected with 32 road signals at the most;
Power feels that module comprises ESC power and feels that module, power feel that controller and force sensor, ESC power feel with power, module feels that controller and force sensor interconnect mutually respectively;
Vision module comprises ESC vision module, vision controller and vision sensor, and ESC vision module interconnects mutually with vision controller and vision sensor respectively.
Based on the method for operating of the intelligent industrial robot bus module of EtherCAT, carry out according to the following steps:
(1), the selection of software restraint:
The robot controller of a kind of application real-time industrial ethernet EtherCAT on embedded microprocessor ARM and embedded real-time operating system RT-Linux basis, controller adopts embedded microprocessor ARM as hardware core, while the dependable with function of the system of guarantee, reduce cost, easy to use; Hard real-time kernel RT-Linux provide real time operating system support, and the priority that can realize multitask is called;
(2), embedded microprocessor is EtherCAT main website:
Embedded microprocessor ARM, as EtherCAT main website, realizes task matching and motion control, and DSP arithmetic unit realizes locus interpolation computing, and teach box plays off-line path planning and teaching effect;
(3), adopt ESC to realize EtherCAT slave station to control:
EtherCAT slave station realizes by from station control ESC;
3 kinds of PDI interfaces are had: SPI interface, I/O interface, MPI in ESC;
ESC adopts ASIC or FPGA to realize;
Robot motion's module, I/O module, power feel that module, vision module are respectively EtherCAT slave station;
(4), robot motion's module controls:
The servo-driver of robot motion's module possesses EtherCAT communication slave station function, can realize exchange, the transmission of information fast; Robot motion's module is controlled by ESC motion module;
Configure an ESC motion module to each servo-driver to control;
(5), I/O module controls:
Directly realize input and output by the I/O resource of ESC control module self to control, an I/O slave station supports at most 32 road I/O signals;
(6), vision module controls:
Vision module smart camera recognition object information, vision module adopts smart camera, and a smart camera can realize the process of plane picture, and two smart cameras then can realize the process of 3-D view;
The image information of smart camera is sent in main website by EtherCAT slave station carries out algorithm process, the identification of implementation space three-dimensional body;
(7), power feels that module controls:
Power feels that module force snesor perception end is stressed, and power feels that module adopts multi-dimension force sensor, can the force and moment of perception all directions, by EtherCAT bus in time by information feed back in master controller, industrial robot is reacted in time;
The end movement of controlled impact force can be realized;
(8), module is increased:
EtherCAT network has network topology structure flexibly, can add other sensing modules according to the actual requirements, realize the more intelligent of industrial robot.
The utilization of intelligence sensor, will carry forward vigorously the development of robot automtion, such as smart camera, testing environment more rapidly and efficiently; Various dimensions force snesor, perception all directions force and moment; Range sensor etc.Thing followed problem is, how fast heat transfer agent to be transferred to robot control cabinet, realizes robot real-time change.Use the technology of EtherCAT, these will be no longer difficult problems.Therefore EtherCAT technology has quite open application prospect in modern machines people field.
Whole robot control system adopts the communication of EtherCAT protocol realization controller and each intermodule.System can increase and decrease hardware module arbitrarily according to demand, can expand multiple controller and realize multi robot processing system, adds more intelligent sensor, and the outside axle of robot etc.
Motion module comprises two kinds of modes, and wherein one is that servo-driver is integrated with EtherCAT slave station function, and another kind is that slave station is made up of ESC+ microprocessor, realizes and general servo-driver exchanges data.Described AC servo driver connects communication by corresponding slave station Interface and Controler.
Power feel module and vision module, the change of perception robot self and ambient state, is sent in controller by information by EtherCAT in time, and controller controls the change of each movable joint in real time by optimized algorithm.
Beneficial effect:
1, main station controller adopts real time operating system RT-Linux, greatly improves system responses ability.
2, adopt EtherCAT industrial Ethernet technology, possess the technology such as Processing on the fly, distributed clock synchronization, each joint synchronous is high, fast response time, realizes industrial robot high speed, accurate motion.
3, EtherCAT fieldbus transmission speed is high, and topological structure is flexible, and the interpolation of sensing module is more prone to, and does not worry efficiency of transmission problem simultaneously, thus makes robot more intelligent, uses field more extensive.
By EtherCAT bus, external sensible information can be sent in main website in time, controller can process these feedback data fast, makes corresponding adjustment, the adjustment campaign that each closing energy-saving of robot sent controller in the very first time.Generally speaking, industrial robot change to external world can have and respond faster, namely more intelligent, and its career field has been widened in the utilization of multiple sensing module simultaneously.
The invention provides the intelligent industrial robot bus module based on EtherCAT and method of operating thereof, make industrial robot more intelligent, possess the utilization of multiple sensing module simultaneously.
Accompanying drawing explanation
Fig. 1 is system architecture schematic diagram of the present invention.
Detailed description of the invention
Below by embodiment, and by reference to the accompanying drawings, technical scheme of the present invention is described in further detail.
Embodiment 1: as shown in Figure 1, a kind of intelligent industrial robot bus module based on EtherCAT, comprise EtherCAT bus 1, EtherCAT bus 1 is connected with embedded microprocessor 2, be provided with ethernet controller 3 in embedded microprocessor 2, the two ends of embedded microprocessor 2 interconnect with DSP arithmetic unit 4 and teach box 5 phase respectively; EtherCAT bus 1 feels that module 8, vision module 9 phase interconnect respectively with robot motion's module 6, I/O module 7, power; Robot motion's module 6, I/O module 7, power feel that module 8, vision module 9, EtherCAT bus 1 form topological structure;
Robot motion's module comprises at least one ESC motion module 10, at least one servo-driver 11 and at least one AC servo motor 12, ESC motion module 10 and interconnects with servo-driver 11 phase, and servo-driver 11 interconnects with AC servo motor 12 phase;
I/O module comprises ESC control module 13, ESC control module 13 and is connected with 32 road signals at the most;
Power feels that module comprises ESC power and feels that module 14, power feel that controller 15 and force sensor 16, ESC power feel that module 14 feels that controller 15 and force sensor 16 phase interconnect respectively with power;
Vision module comprises ESC vision module 17, vision controller 18 and vision sensor 19, ESC vision module 17 and interconnects with vision controller 18 and vision sensor 19 phase respectively.
Based on the method for operating of the intelligent industrial robot bus module of EtherCAT, carry out according to the following steps:
(1), the selection of software restraint:
The robot controller of a kind of application real-time industrial ethernet EtherCAT on embedded microprocessor ARM and embedded real-time operating system RT-Linux basis, controller adopts embedded microprocessor ARM as hardware core, while the dependable with function of the system of guarantee, reduce cost, easy to use; Hard real-time kernel RT-Linux provide real time operating system support, and the priority that can realize multitask is called;
(2), embedded microprocessor is EtherCAT main website:
Embedded microprocessor ARM, as EtherCAT main website, realizes task matching and motion control, and DSP arithmetic unit realizes locus interpolation computing, and teach box plays off-line path planning and teaching effect;
(3), adopt ESC to realize EtherCAT slave station to control:
EtherCAT slave station realizes by from station control ESC;
3 kinds of PDI interfaces are had: SPI interface, I/O interface, MPI in ESC;
ESC adopts ASIC or FPGA to realize;
Robot motion's module, I/O module, power feel that module, vision module are respectively EtherCAT slave station;
(4), robot motion's module controls:
The servo-driver of robot motion's module possesses EtherCAT communication slave station function, can realize exchange, the transmission of information fast; Robot motion's module is controlled by ESC motion module;
Configure an ESC motion module to each servo-driver to control;
(5), I/O module controls:
Directly realize input and output by the I/O resource of ESC control module self to control, an I/O slave station supports at most 32 road I/O signals;
(6), vision module controls:
Vision module smart camera recognition object information, vision module adopts smart camera, and a smart camera can realize the process of plane picture, and two smart cameras then can realize the process of 3-D view;
The image information of smart camera is sent in main website by EtherCAT slave station carries out algorithm process, the identification of implementation space three-dimensional body;
(7), power feels that module controls:
Power feels that module force snesor perception end is stressed, and power feels that module adopts multi-dimension force sensor, can the force and moment of perception all directions, by EtherCAT bus in time by information feed back in master controller, industrial robot is reacted in time;
The end movement of controlled impact force can be realized;
(8), module is increased:
EtherCAT network has network topology structure flexibly, can add other sensing modules according to the actual requirements, realize the more intelligent of industrial robot.
Claims (2)
1. the intelligent industrial robot bus module based on EtherCAT, it is characterized in that: comprise EtherCAT bus (1), EtherCAT bus (1) is connected with embedded microprocessor (2), be provided with ethernet controller (3) in embedded microprocessor (2), the two ends of embedded microprocessor (2) interconnect mutually with DSP arithmetic unit (4) and teach box (5) respectively; With robot motion's module (6), I/O module (7), power, EtherCAT bus (1) feels that module (8), vision module (9) interconnect mutually respectively; Robot motion's module (6), I/O module (7), power feel that module (8), vision module (9), EtherCAT bus (1) form topological structure;
Robot motion's module comprises at least one ESC motion module (10), at least one servo-driver (11) and at least one AC servo motor (12), ESC motion module (10) interconnects mutually with servo-driver (11), and servo-driver (11) interconnects mutually with AC servo motor (12);
I/O module comprises ESC control module (13), and ESC control module (13) is connected with 32 road signals at the most;
Power feels that module comprises ESC power and feels that module (14), power feel that controller (15) and force sensor (16), ESC power feel that module (14) feels that controller (15) and force sensor (16) interconnect mutually respectively with power;
Vision module comprises ESC vision module (17), vision controller (18) and vision sensor (19), and ESC vision module (17) interconnects mutually with vision controller (18) and vision sensor (19) respectively.
2. the method for operating of the intelligent industrial robot bus module based on EtherCAT according to claim 1, is characterized in that carrying out according to the following steps:
(1), the selection of software restraint:
The robot controller of a kind of application real-time industrial ethernet EtherCAT on embedded microprocessor ARM and embedded real-time operating system RT-Linux basis, controller adopts embedded microprocessor ARM as hardware core, while the dependable with function of the system of guarantee, reduce cost, easy to use; Hard real-time kernel RT-Linux provide real time operating system support, and the priority that can realize multitask is called;
(2), embedded microprocessor is EtherCAT main website:
Embedded microprocessor ARM, as EtherCAT main website, realizes task matching and motion control, and DSP arithmetic unit realizes locus interpolation computing, and teach box plays off-line path planning and teaching effect;
(3), adopt ESC to realize EtherCAT slave station to control:
EtherCAT slave station realizes by from station control ESC;
3 kinds of PDI interfaces are had: SPI interface, I/O interface, MPI in ESC;
ESC adopts ASIC or FPGA to realize;
Robot motion's module, I/O module, power feel that module, vision module are respectively EtherCAT slave station;
(4), robot motion's module controls:
The servo-driver of robot motion's module possesses EtherCAT communication slave station function, can realize exchange, the transmission of information fast; Robot motion's module is controlled by ESC motion module;
Configure an ESC motion module to each servo-driver to control;
(5), I/O module controls:
Directly realize input and output by the I/O resource of ESC control module self to control, an I/O slave station supports at most 32 road I/O signals;
(6), vision module controls:
Vision module smart camera recognition object information, vision module adopts smart camera, and a smart camera can realize the process of plane picture, and two smart cameras then can realize the process of 3-D view;
The image information of smart camera is sent in main website by EtherCAT slave station carries out algorithm process, the identification of implementation space three-dimensional body;
(7), power feels that module controls:
Power feels that module force snesor perception end is stressed, and power feels that module adopts multi-dimension force sensor, can the force and moment of perception all directions, by EtherCAT bus in time by information feed back in master controller, industrial robot is reacted in time;
The end movement of controlled impact force can be realized;
(8), module is increased:
EtherCAT network has network topology structure flexibly, can add other sensing modules according to the actual requirements, realize the more intelligent of industrial robot.
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| CN105429836A (en) * | 2015-12-15 | 2016-03-23 | 中国电子信息产业集团有限公司第六研究所 | Real-time EtherCAT master station system |
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| CN110666820A (en) * | 2019-10-12 | 2020-01-10 | 合肥泰禾光电科技股份有限公司 | High-performance industrial robot controller |
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